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Pipeline Bringup (#94)

Browse Source 
* Refactor package structure, various cleanups

* Add pipeline classes, settings, separate enums

* updated Largest ContourSortMode and added centermost

* Add DriverPipeline classes, apply spotless

* Add crosshair to DriverMode, cleanups

* Add FrameStaticProperties as member in Frame

Add FrameStaticProperties as member in Frame

* Finish ReflectivePipeline, various tweaks

* Apply Spotless

* Move test images

* add Releasable interface, implement in classes

* add TestUtils class, move testimages

* Refactor CVPipeline, add ReflectivePipelineTest

* Fix ConcurrentModificationException bug in group contours pipe with potential targets

* Resolve memory leaks due to unnecessary instantiation of Points

* Apply spotless

* Add CVMat, ReflectionUtils to help track rogue Mats

* various cleanups, add DummyFrameConsumer

* Add logback

* Add slv4j logger to replace the current debugLogger

I'm waiting on stuff to be less skeletoned to add more

* Add perimeter, MatOfPoint2f getters to Contour

* Create CornerDetectionPipe based on old solvePNPPipe

* Add ContourShape class for approxPolyDp Start on ColoredShape tracking

* Add point detection, fix convex hull calculation in Contour

* Make Draw2dContours pipe respect showMultiple

* Update Contour.java

* Clean up draw 3d, fix convex hull bug in corner detection

* Update geometry classes

* Add lifecam calibration data

* Implement solvePNP, bounding box top and bottom

* Fix JSON mat bug and lifecam default calibration for tests, fix 3d drawing

* run spotless

* Refactor calibration into `common.calibration`

* Update .gitignore

* Add offset method to get2020Target

* Various cleanups, add PipelineType enum

* Apply spotless

Co-authored-by: ori agranat <oriagranat9@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Banks T
2020-04-12 18:37:14 -04:00
committed by GitHub
parent 64d7cda98c
commit 1149bf9c55
214 changed files with 4394 additions and 1937 deletions
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42
chameleon-server/src/main/java/com/chameleonvision/common/util/ReflectionUtils.java Normal file
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@@ -0,0 +1,42 @@
package com.chameleonvision.common.util;
public class ReflectionUtils {
public static StackTraceElement[] getFullStackTrace() {
return Thread.currentThread().getStackTrace();
}
public static StackTraceElement getNthCaller(int n) {
if (n < 0) n = 0;
return Thread.currentThread().getStackTrace()[n];
}
public static String getCallerClassName() {
StackTraceElement[] stElements = Thread.currentThread().getStackTrace();
for (int i = 1; i < stElements.length; i++) {
StackTraceElement ste = stElements[i];
if (!ste.getClassName().equals(ReflectionUtils.class.getName())
&& ste.getClassName().indexOf("java.lang.Thread") != 0) {
return ste.getClassName();
}
}
return null;
}
public static String getCallerCallerClassName() {
StackTraceElement[] stElements = Thread.currentThread().getStackTrace();
String callerClassName = null;
for (int i = 1; i < stElements.length; i++) {
StackTraceElement ste = stElements[i];
if (!ste.getClassName().equals(ReflectionUtils.class.getName())
&& ste.getClassName().indexOf("java.lang.Thread") != 0) {
if (callerClassName == null) {
callerClassName = ste.getClassName();
} else if (!callerClassName.equals(ste.getClassName())) {
return ste.getClassName();
}
}
}
return null;
}
}

123
chameleon-server/src/main/java/com/chameleonvision/common/util/TestUtils.java Normal file
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@@ -0,0 +1,123 @@
package com.chameleonvision.common.util;
import edu.wpi.cscore.CameraServerCvJNI;
import java.io.File;
import java.io.IOException;
import java.nio.file.Path;
import java.util.Optional;
import org.opencv.core.Mat;
import org.opencv.highgui.HighGui;
public class TestUtils {
public enum WPI2019Image {
kCargoAngledDark48in(1.2192),
kCargoSideStraightDark36in(0.9144),
kCargoSideStraightDark60in(1.524),
kCargoSideStraightDark72in(1.8288),
kCargoSideStraightPanelDark36in(0.9144),
kCargoStraightDark19in(0.4826),
kCargoStraightDark24in(0.6096),
kCargoStraightDark48in(1.2192),
kCargoStraightDark72in(1.8288),
kCargoStraightDark72in_HighRes(1.8288),
kCargoStraightDark90in(2.286);
public static double FOV = 68.5;
public final double distanceMeters;
public final String path;
String getPath() {
var filename = this.toString().substring(1);
return "\\2019\\WPI\\" + filename + ".jpg";
}
WPI2019Image(double distanceMeters) {
this.distanceMeters = distanceMeters;
this.path = getPath();
}
}
public enum WPI2020Image {
kBlueGoal_060in_Center(1.524),
kBlueGoal_084in_Center(2.1336),
kBlueGoal_108in_Center(2.7432),
kBlueGoal_132in_Center(3.3528),
kBlueGoal_156in_Center(3.9624),
kBlueGoal_180in_Center(4.572),
kBlueGoal_156in_Left(3.9624),
kBlueGoal_224in_Left(5.6896),
kBlueGoal_228in_ProtectedZone(5.7912),
kBlueGoal_330in_ProtectedZone(8.382),
kBlueGoal_Far_ProtectedZone(10.668), // TODO: find a more accurate distance
kRedLoading_016in_Down(0.4064),
kRedLoading_030in_Down(0.762),
kRedLoading_048in_Down(1.2192),
kRedLoading_048in(1.2192),
kRedLoading_060in(1.524),
kRedLoading_084in(2.1336),
kRedLoading_108in(2.7432);
public static double FOV = 68.5;
public final double distanceMeters;
public final String path;
String getPath() {
var filename = this.toString().substring(1).replace('_', '-');
return "\\2020\\WPI\\" + filename + ".jpg";
}
WPI2020Image(double distanceMeters) {
this.distanceMeters = distanceMeters;
this.path = getPath();
}
}
private static Path getTestImagesPath() {
var folder = TestUtils.class.getClassLoader().getResource("testimages");
return Optional.ofNullable(folder).map(url -> new File(url.getFile()).toPath()).orElse(null);
}
public static Path getCalibrationPath() {
var folder = TestUtils.class.getClassLoader().getResource("calibration");
return Optional.ofNullable(folder).map(url -> new File(url.getFile()).toPath()).orElse(null);
}
public static Path getWPIImagePath(WPI2020Image image) {
return Path.of(getTestImagesPath().toString(), image.path);
}
public static Path getWPIImagePath(WPI2019Image image) {
return Path.of(getTestImagesPath().toString(), image.path);
}
public static void loadLibraries() {
try {
CameraServerCvJNI.forceLoad();
} catch (IOException e) {
// ignored
}
}
private static int DefaultTimeoutMillis = 5000;
public static void showImage(Mat frame, String title, int timeoutMs) {
HighGui.imshow(title, frame);
HighGui.waitKey(timeoutMs);
HighGui.destroyAllWindows();
}
public static void showImage(Mat frame, int timeoutMs) {
showImage(frame, "", timeoutMs);
}
public static void showImage(Mat frame, String title) {
showImage(frame, title, DefaultTimeoutMillis);
}
public static void showImage(Mat frame) {
showImage(frame, DefaultTimeoutMillis);
}
}

13
chameleon-server/src/main/java/com/chameleonvision/common/util/file/FileUtils.java
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@@ -1,6 +1,5 @@
package com.chameleonvision.common.util.file;
import com.chameleonvision.common.logging.DebugLogger;
import com.chameleonvision.common.util.Platform;
import java.io.File;
import java.io.IOException;
@@ -11,9 +10,14 @@ import java.nio.file.attribute.PosixFilePermission;
import java.util.Arrays;
import java.util.HashSet;
import java.util.Set;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
public class FileUtils {
private static DebugLogger logger = new DebugLogger(true);
private FileUtils() {}
private static Logger logger = LoggerFactory.getLogger(FileUtils.class);
private static final Set<PosixFilePermission> allReadWriteExecutePerms =
new HashSet<>(Arrays.asList(PosixFilePermission.values()));
@@ -23,7 +27,7 @@ public class FileUtils {
Set<PosixFilePermission> perms =
Files.readAttributes(path, PosixFileAttributes.class).permissions();
if (!perms.equals(allReadWriteExecutePerms)) {
logger.printInfo("Setting perms on" + path.toString());
logger.info("Setting perms on" + path.toString());
Files.setPosixFilePermissions(path, perms);
if (thisFile.isDirectory()) {
for (File subfile : thisFile.listFiles()) {
@@ -46,8 +50,7 @@ public class FileUtils {
}
} else {
// TODO file perms on Windows
System.out.println(
"File permission setting not available on Windows. Not changing file permissions.");
logger.info("Cannot set directory permissions on Windows!");
}
}
}

4
chameleon-server/src/main/java/com/chameleonvision/common/util/math/MathUtils.java
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@@ -26,4 +26,8 @@ public class MathUtils {
double toMult = Math.pow(10, to);
return (double) Math.round(value * toMult) / toMult;
}
public static double nanosToMillis(long nanos) {
return nanos / 1000000.0;
}
}

15
chameleon-server/src/main/java/com/chameleonvision/common/util/numbers/DoubleCouple.java
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@@ -1,5 +1,7 @@
package com.chameleonvision.common.util.numbers;
import org.opencv.core.Point;
public class DoubleCouple extends NumberCouple<Double> {
public DoubleCouple() {
@@ -9,4 +11,17 @@ public class DoubleCouple extends NumberCouple<Double> {
public DoubleCouple(Double first, Double second) {
super(first, second);
}
public DoubleCouple(Point point) {
super(point.x, point.y);
}
public Point toPoint() {
return new Point(first, second);
}
public void fromPoint(Point point) {
first = point.x;
second = point.y;
}
}

4
chameleon-server/src/main/java/com/chameleonvision/common/util/numbers/NumberCouple.java
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@@ -2,8 +2,8 @@ package com.chameleonvision.common.util.numbers;
public abstract class NumberCouple<T extends Number> {
private T first;
private T second;
protected T first;
protected T second;
public NumberCouple(T first, T second) {
this.first = first;